~~

src/src/main/java/com/my/graphiteDigesterBg/diframe/DiTaskMoveBase.java

@@ -1,5 +1,12 @@
 package com.my.graphiteDigesterBg.diframe;
+import java.util.ArrayList;
+import java.util.List;
 abstract public class DiTaskMoveBase {
+    // finish callback
+    public interface ExecuteCallback {
+        void callback();
+    }
+
     // device
     private DiDevice device;
     // task
@@ -28,4 +35,22 @@ abstract public class DiTaskMoveBase {
 
     // run
     abstract public void run();
+
+    // execute batch actions
+    public void execute(List<ExecuteCallback> actions) {
+        List<Thread> threads = new ArrayList<>();
+        for (ExecuteCallback action : actions) {
+            Thread thread = new Thread(action::callback);
+            threads.add(thread);
+            thread.start();
+        }
+
+        for (Thread thread : threads) {
+            try {
+                thread.join();
+            } catch (InterruptedException e) {
+                e.printStackTrace();
+            }
+        }
+    }
 }

src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActPeristalticPump.java

@@ -20,6 +20,8 @@ public class DiActPeristalticPump extends DiActuatorBase {
     protected Integer stepMotorIRun;
     // volume per circle
     protected Double volumePerCircle;
+    // retraction circle count
+    protected Integer retractionCircleCount;
 
     @Override
     protected void onEnable() {
@@ -61,5 +63,8 @@ public class DiActPeristalticPump extends DiActuatorBase {
     public void pump(Integer volume) {
         Integer circleCount = (int) (volume / this.volumePerCircle);
         this.rotateByCircleCount(circleCount);
+        if ( null != this.retractionCircleCount && 0 < this.retractionCircleCount ) {
+            this.rotateByCircleCount(this.retractionCircleCount * -1);
+        }
     }
 }

src/src/main/java/com/my/graphiteDigesterBg/move/MoveLiquidAdd.java

@@ -4,7 +4,7 @@ import com.my.graphiteDigesterBg.diframe.DiTaskMoveBase;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActPeristalticPump;
 import com.my.graphiteDigesterBg.resource.ResAcidManager;
-
+import java.util.List;
 public class MoveLiquidAdd extends DiTaskMoveBase {
     // shake times
     public Integer shakeTimes;
@@ -24,18 +24,26 @@ public class MoveLiquidAdd extends DiTaskMoveBase {
         DiActMotor liquidMotor = this.getActuator(MyDevice.ACT_LIQUID_MOTOR, DiActMotor.class);
         DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
         for ( int i=0; i<4; i++ ) {
-            // 外圈试管加液
-            liquidMotor.moveTo("LiquidArmPumpGroupOut");
-            liquidPlateMotor.moveTo("LiquidPlateSlotPumpOutGroup", i);
-            groupOutPump.pump(this.liquidVolume);
-            groupInPump.pump(this.liquidVolume);
+            int index = i;
+            this.execute(List.of( // 移动到外圈试管位置
+                () -> liquidMotor.moveTo("LiquidArmPumpGroupOut"),
+                () -> liquidPlateMotor.moveTo("LiquidPlateSlotPumpOutGroup", index)
+            ));
+            this.execute(List.of( // 加液
+                () -> groupOutPump.pump(this.liquidVolume),
+                () -> groupInPump.pump(this.liquidVolume)
+            ));
             bucket.consume(this.liquidVolume * 2);
 
             // 内圈试管加液
-            liquidMotor.moveTo("LiquidArmPumpGroupIn");
-            liquidPlateMotor.moveTo("LiquidPlateSlotPumpInGroup", i);
-            groupInPump.pump(this.liquidVolume);
-            groupOutPump.pump(this.liquidVolume);
+            this.execute(List.of( // 移动到内圈试管位置
+                () -> liquidMotor.moveTo("LiquidArmPumpGroupIn"),
+                () -> liquidPlateMotor.moveTo("LiquidPlateSlotPumpInGroup", index)
+            ));
+            this.execute(List.of( // 加液
+                () -> groupInPump.pump(this.liquidVolume),
+                () -> groupOutPump.pump(this.liquidVolume)
+            ));
             bucket.consume(this.liquidVolume * 2);
         }
 

src/src/main/java/com/my/graphiteDigesterBg/resource/ResHeatingTubeRackSlotManager.java

@@ -41,11 +41,11 @@ public class ResHeatingTubeRackSlotManager extends DiResourceManagerBase {
 
     // refresh slot temperature
     public void refreshSlotTemperature() {
-        var registers = this.getDevice().getRegisters();
-        for (ResHeatingTubeRackSlot slot : this.slots) {
-            slot.temperature = registers.getValue("HeatingPlateSlotTemperature" + slot.index);
-            LOG.info("[Heating Slot {}] temperature: {}", slot.index, slot.temperature);
-        }
+//        var registers = this.getDevice().getRegisters();
+//        for (ResHeatingTubeRackSlot slot : this.slots) {
+//            slot.temperature = registers.getValue("HeatingPlateSlotTemperature" + slot.index);
+//            LOG.info("[Heating Slot {}] temperature: {}", slot.index, slot.temperature);
+//        }
     }
 
     // get resource data

src/src/main/java/com/my/graphiteDigesterBg/task/TaskLiquidAdd.java

@@ -22,10 +22,10 @@ public class TaskLiquidAdd extends DiTaskBase {
         this.setStatus(TaskStatus.RUNNING);
 
         // move tube rack from heat plate to liquid plate
-        var moveTubeRackFromHeatPlateToLiquidPlate = new MoveMoveTubeRackFromHeatPlateToLiquidPlate();
-        moveTubeRackFromHeatPlateToLiquidPlate.setDevice(this.getDevice());
-        moveTubeRackFromHeatPlateToLiquidPlate.slotIndex = this.slotIndex;
-        moveTubeRackFromHeatPlateToLiquidPlate.run();
+//        var moveTubeRackFromHeatPlateToLiquidPlate = new MoveMoveTubeRackFromHeatPlateToLiquidPlate();
+//        moveTubeRackFromHeatPlateToLiquidPlate.setDevice(this.getDevice());
+//        moveTubeRackFromHeatPlateToLiquidPlate.slotIndex = this.slotIndex;
+//        moveTubeRackFromHeatPlateToLiquidPlate.run();
 
         MdbOperationLog.log(this.getUser(), "试管架%d : 样本加液 类型=%s, 加液量=%d", this.slotIndex, this.liquidType, this.liquidVolume);
 
@@ -38,10 +38,10 @@ public class TaskLiquidAdd extends DiTaskBase {
         liquidAdd.run();
 
         // move tube rack from liquid plate to heat plate
-        var moveTubeRackFromLiquidPlateToHeatPlate = new MoveMoveTubeRackFromLiquidPlateToHeatPlate();
-        moveTubeRackFromLiquidPlateToHeatPlate.setDevice(this.getDevice());
-        moveTubeRackFromLiquidPlateToHeatPlate.slotIndex = this.slotIndex;
-        moveTubeRackFromLiquidPlateToHeatPlate.run();
+//        var moveTubeRackFromLiquidPlateToHeatPlate = new MoveMoveTubeRackFromLiquidPlateToHeatPlate();
+//        moveTubeRackFromLiquidPlateToHeatPlate.setDevice(this.getDevice());
+//        moveTubeRackFromLiquidPlateToHeatPlate.slotIndex = this.slotIndex;
+//        moveTubeRackFromLiquidPlateToHeatPlate.run();
 
         this.setStatus(TaskStatus.FINISHED);
     }

src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java

@@ -27,11 +27,11 @@ public class TaskStartReset extends DiTaskBase {
 //        transferClipServo.setEnable(true);
 //        transferClipServo.moveTo("TransClipServoClose");
 //
-//        this.setProgressMessage("设备初始化 : 加液臂复位");
-//        DiActMotor liquidMotor = this.getActuator(MyDevice.ACT_LIQUID_MOTOR, DiActMotor.class);
-//        liquidMotor.setEnable(true);
-//        liquidMotor.reset();
-//        liquidMotor.moveTo("LiquidArmStandby");
+        this.setProgressMessage("设备初始化 : 加液臂复位");
+        DiActMotor liquidMotor = this.getActuator(MyDevice.ACT_LIQUID_MOTOR, DiActMotor.class);
+        liquidMotor.setEnable(true);
+        liquidMotor.reset();
+        liquidMotor.moveTo("LiquidArmStandby");
 //
 //        // @todo http://127.0.0.1:5566/issues/38
 //        this.setProgressMessage("设备初始化 : 搬运机械臂上下移动复位");
@@ -54,11 +54,11 @@ public class TaskStartReset extends DiTaskBase {
 //            heatSlotCoverServo.setCurrentPosAsMiddle();
 //        }
 //
-//        // @TODO : http://127.0.0.1:5566/issues/39
-//        this.setProgressMessage("设备初始化 : 加液转盘复位");
-//        DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
-//        liquidPlateMotor.setEnable(true);
-//        liquidPlateMotor.reset();
+        // @TODO : http://127.0.0.1:5566/issues/39
+        this.setProgressMessage("设备初始化 : 加液转盘复位");
+        DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
+        liquidPlateMotor.setEnable(true);
+        liquidPlateMotor.reset();
 //
 //        // @TODO : http://127.0.0.1:5566/issues/40
 //        this.setProgressMessage("设备初始化 : 加热盘转盘复位");
@@ -66,16 +66,16 @@ public class TaskStartReset extends DiTaskBase {
 //        heatPlateMotor.setEnable(true);
 //        heatPlateMotor.reset();
 //        heatPlateMotor.moveTo("HeatPlateStandby");
-//
-//        int peristalticPumpCount = 1;
-//        var actuators = this.getDevice().getActuators().getAll();
-//        for ( var actuator : actuators ) {
-//            if (actuator instanceof DiActPeristalticPump pump) {
-//                this.setProgressMessage("设备初始化 : 蠕动泵复位 " + peristalticPumpCount + "/16");
-//                pump.setEnable(true);
-//                peristalticPumpCount++;
-//            }
-//        }
+
+        int peristalticPumpCount = 1;
+        var actuators = this.getDevice().getActuators().getAll();
+        for ( var actuator : actuators ) {
+            if (actuator instanceof DiActPeristalticPump pump) {
+                this.setProgressMessage("设备初始化 : 蠕动泵复位 " + peristalticPumpCount + "/16");
+                pump.setEnable(true);
+                peristalticPumpCount++;
+            }
+        }
 
         this.setProgressMessage("设备初始化 : 完成");
         runtimeVars.setString("IsDeviceReady", "YES");

src/src/main/resources/device.yml

@@ -41,8 +41,8 @@ actuators :
     shaft : 1
     oneCirclePulse : 10000
     oneCirclePulseDenominator : 18
-    defaultVelocity : 40
-    defaultAcc : 2
+    defaultVelocity : 100
+    defaultAcc : 5
     defaultDec : 2
     runToZeroSpeed : 50
     runToZeroDec : 30
@@ -121,7 +121,8 @@ actuators :
     defaultDec : 300
     stepMotorIHold : 0
     stepMotorIRun : 25
-    volumePerCircle : 0.1
+    volumePerCircle : 0.06
+    retractionCircleCount : 1
 
   - name: 蠕动泵-0-1
     key: LiquidPeristalticPump_0_1
@@ -135,7 +136,8 @@ actuators :
     defaultDec: 300
     stepMotorIHold: 0
     stepMotorIRun: 25
-    volumePerCircle: 0.1
+    volumePerCircle: 0.06
+    retractionCircleCount : 1
 
   - name: 蠕动泵-1-0
     key: LiquidPeristalticPump_1_0
@@ -149,7 +151,8 @@ actuators :
     defaultDec: 300
     stepMotorIHold: 0
     stepMotorIRun: 25
-    volumePerCircle: 0.1
+    volumePerCircle: 0.06
+    retractionCircleCount : 1
 
   - name: 蠕动泵-1-1
     key: LiquidPeristalticPump_1_1
@@ -163,7 +166,8 @@ actuators :
     defaultDec: 300
     stepMotorIHold: 0
     stepMotorIRun: 25
-    volumePerCircle: 0.1
+    volumePerCircle: 0.06
+    retractionCircleCount : 1
 
   - name: 蠕动泵-2-0
     key: LiquidPeristalticPump_2_0
@@ -177,7 +181,8 @@ actuators :
     defaultDec: 300
     stepMotorIHold: 0
     stepMotorIRun: 25
-    volumePerCircle: 0.1
+    volumePerCircle: 0.06
+    retractionCircleCount : 1
 
   - name: 蠕动泵-2-1
     key: LiquidPeristalticPump_2_1
@@ -191,7 +196,8 @@ actuators :
     defaultDec: 300
     stepMotorIHold: 0
     stepMotorIRun: 25
-    volumePerCircle: 0.1
+    volumePerCircle: 0.06
+    retractionCircleCount : 1
 
   - name: 蠕动泵-3-0
     key: LiquidPeristalticPump_3_0
@@ -205,7 +211,8 @@ actuators :
     defaultDec: 300
     stepMotorIHold: 0
     stepMotorIRun: 25
-    volumePerCircle: 0.1
+    volumePerCircle: 0.06
+    retractionCircleCount : 1
 
   - name: 蠕动泵-3-1
     key: LiquidPeristalticPump_3_1
@@ -219,7 +226,8 @@ actuators :
     defaultDec: 300
     stepMotorIHold: 0
     stepMotorIRun: 25
-    volumePerCircle: 0.1
+    volumePerCircle: 0.06
+    retractionCircleCount : 1
 
   - name: 蠕动泵-4-0
     key: LiquidPeristalticPump_4_0
@@ -233,7 +241,8 @@ actuators :
     defaultDec: 300
     stepMotorIHold: 0
     stepMotorIRun: 25
-    volumePerCircle: 0.1
+    volumePerCircle: 0.06
+    retractionCircleCount : 1
 
   - name: 蠕动泵-4-1
     key: LiquidPeristalticPump_4_1
@@ -247,7 +256,8 @@ actuators :
     defaultDec: 300
     stepMotorIHold: 0
     stepMotorIRun: 25
-    volumePerCircle: 0.1
+    volumePerCircle: 0.06
+    retractionCircleCount : 1
 
   - name: 蠕动泵-5-0
     key: LiquidPeristalticPump_5_0
@@ -261,7 +271,8 @@ actuators :
     defaultDec: 300
     stepMotorIHold: 0
     stepMotorIRun: 25
-    volumePerCircle: 0.1
+    volumePerCircle: 0.06
+    retractionCircleCount : 1
 
   - name: 蠕动泵-5-1
     key: LiquidPeristalticPump_5_1
@@ -275,7 +286,8 @@ actuators :
     defaultDec: 300
     stepMotorIHold: 0
     stepMotorIRun: 25
-    volumePerCircle: 0.1
+    volumePerCircle: 0.06
+    retractionCircleCount : 1
 
   - name: 蠕动泵-6-0
     key: LiquidPeristalticPump_6_0
@@ -289,7 +301,8 @@ actuators :
     defaultDec: 300
     stepMotorIHold: 0
     stepMotorIRun: 25
-    volumePerCircle: 0.1
+    volumePerCircle: 0.06
+    retractionCircleCount : 1
 
   - name: 蠕动泵-6-1
     key: LiquidPeristalticPump_6_1
@@ -303,7 +316,8 @@ actuators :
     defaultDec: 300
     stepMotorIHold: 0
     stepMotorIRun: 25
-    volumePerCircle: 0.1
+    volumePerCircle: 0.06
+    retractionCircleCount : 1
 
   - name: 蠕动泵-7-0
     key: LiquidPeristalticPump_7_0
@@ -317,7 +331,8 @@ actuators :
     defaultDec: 300
     stepMotorIHold: 0
     stepMotorIRun: 25
-    volumePerCircle: 0.1
+    volumePerCircle: 0.06
+    retractionCircleCount : 1
 
   - name: 蠕动泵-7-1
     key: LiquidPeristalticPump_7_1
@@ -331,7 +346,8 @@ actuators :
     defaultDec: 300
     stepMotorIHold: 0
     stepMotorIRun: 25
-    volumePerCircle: 0.1
+    volumePerCircle: 0.06
+    retractionCircleCount : 1
 
   - name : 设备门电机
     key: DoorMotor

src/web/src/pages/main/contents/Operation.vue

@@ -68,29 +68,7 @@
     </a-form>
   </a-modal>
 
-  <!-- 加酸 -->
-  <a-modal v-model:visible="acidAdd.enable" title="加酸" @ok="acidAddOk" @cancel="acidAddCancel" ok-text="确认" cancel-text="取消">
-    <a-form :label-col="{span:4}" :wrapper-col="{span:20}" label-align="left" class="py-5">
-      <a-form-item label="位置">
-        <a-radio-group v-model:value="acidAdd.slotIndex" button-style="solid">
-          <a-radio-button value="0">A-1</a-radio-button>
-          <a-radio-button value="1">A-2</a-radio-button>
-          <a-radio-button value="2">A-3</a-radio-button>
-          <a-radio-button value="3">A-4</a-radio-button>
-          <a-radio-button value="4">A-5</a-radio-button>
-        </a-radio-group>
-      </a-form-item>
-      <a-form-item label="酸液">
-        <a-select v-model:value="acidAdd.liquidType" :options="acidAdd.acidOptions"></a-select>
-      </a-form-item>
-      <a-form-item label="加量">
-        <a-input-number v-model:value="acidAdd.liquidVolume" :min="0" />
-      </a-form-item>
-      <a-form-item label="摇匀次数">
-        <a-input-number v-model:value="acidAdd.shakeTimes" :min="0" />
-      </a-form-item>
-    </a-form>
-  </a-modal>
+  
 </div>
 </template>
 <script setup>
@@ -105,8 +83,6 @@ import OperationTubeRackTemperature from './OperationTubeRackTemperature.vue';
 const sampleTakeout = ref({enable:false,slotIndex:0});
 /** @var {Object} */
 const presetSetup = ref({enable:false,slotIndex:0,id:null});
-/** @var {Object} */
-const acidAdd = ref({enable:false,slotIndex:0,liquidType:null,liquidVolume:100,shakeTimes:3,acidOptions:[]});
 /** @var {Array} */
 const tubeRackSlots = ref([]);
 /** @var {Array} */
@@ -186,37 +162,4 @@ async function actionPresetSetupOk() {
 async function actionPresetSetupCancel() {
     presetSetup.value.enable = false;
 }
-
-// 加酸
-async function actionAcidAdd() {
-    acidAdd.value.acidOptions = [];
-    for ( let acidBucket of acidBuckets.value ) {
-        if ( -1 !== acidAdd.value.acidOptions.findIndex(item => item.value === acidBucket.acidType) ) {
-            continue ;
-        }
-        acidAdd.value.acidOptions.push({
-            label : `${acidBucket.acidName}`,
-            value : acidBucket.acidType
-        });
-    }
-    
-    acidAdd.value.enable = true;
-}
-
-// 加酸确认
-async function acidAddOk() {
-    acidAdd.value.enable = false;
-    let client = ApiClient.getClient();
-    await client.taskAppend('LiquidAdd',{
-      slotIndex:acidAdd.value.slotIndex * 1,
-      liquidType:acidAdd.value.liquidType,
-      liquidVolume:acidAdd.value.liquidVolume * 1,
-      shakeTimes:acidAdd.value.shakeTimes * 1,
-    });
-}
-
-// 加酸取消
-function acidAddCancel() {
-    acidAdd.value.enable = false;
-}
 </script>

src/web/src/pages/main/contents/OperationTubeRackAcidAdd.vue

@@ -0,0 +1,78 @@
+<template>
+  <a-button class="ml-1" 
+    style="background: transparent;border: solid 1px #becfe7;color: #7c92b1;"
+    @click="actionAcidAdd"
+  ><ExperimentOutlined /></a-button>
+
+  <!-- 加酸 -->
+  <a-modal v-if="enable" v-model:visible="enable" title="加酸" @ok="acidAddOk" @cancel="acidAddCancel" ok-text="确认" cancel-text="取消">
+    <a-form :label-col="{span:4}" :wrapper-col="{span:20}" label-align="left" class="py-5">
+      <a-form-item label="酸液">
+        <a-select v-model:value="acidAdd.liquidType" :options="acidOptions"></a-select>
+      </a-form-item>
+      <a-form-item label="加量">
+        <a-input-number class="w-full" v-model:value="acidAdd.liquidVolume" :min="0" addon-after="ml" />
+      </a-form-item>
+      <a-form-item label="摇匀次数">
+        <a-input-number class="w-full" v-model:value="acidAdd.shakeTimes" :min="0" />
+      </a-form-item>
+    </a-form>
+  </a-modal>
+</template>
+<script setup>
+import ApiClient from '@/utils/ApiClient';
+import { ref } from 'vue';
+/** @var {Object} */
+const props = defineProps({
+    activeSlot: Object,
+});
+/** @var {Boolean} */
+const enable = ref(false);
+/** @var {Array} */
+const acidOptions = ref([]);
+/** @var {Object} */
+const acidAdd = ref({liquidType:null,liquidVolume:1,shakeTimes:3});
+
+// 加酸
+async function actionAcidAdd() {
+    let client = ApiClient.getClient();
+    let acidBuckets = await client.resourceDataGet('Acid');
+    let acidTypeMap = {hydrochloric:'盐酸',nitric:'硝酸',sulfuric:'硫酸',hydrofluoric:'氢氟酸',perchloric:'高氯酸',hydrobromic:'液溴',phosphoric:'磷酸',tartaric:'酒石酸'};
+    for ( let acidBucket of acidBuckets ) {
+        acidBucket.acidName = acidTypeMap[acidBucket.acidType];
+    }
+
+    acidOptions.value = [];
+    for ( let acidBucket of acidBuckets ) {
+        if ( -1 !== acidOptions.value.findIndex(item => item.value === acidBucket.acidType) ) {
+            continue ;
+        }
+        acidOptions.value.push({
+            label : `${acidBucket.acidName}`,
+            value : acidBucket.acidType
+        });
+    }
+    
+    enable.value = true;
+    if ( null === acidAdd.value.liquidType ) {
+        acidAdd.value.liquidType = acidBuckets[0].acidType;
+    }
+}
+
+// 加酸确认
+async function acidAddOk() {
+    enable.value = false;
+    let client = ApiClient.getClient();
+    await client.taskAppend('LiquidAdd',{
+        slotIndex : props.activeSlot.index * 1,
+        liquidType : acidAdd.value.liquidType,
+        liquidVolume : acidAdd.value.liquidVolume * 1,
+        shakeTimes : acidAdd.value.shakeTimes * 1,
+    });
+}
+
+// 加酸取消
+function acidAddCancel() {
+    enable.value = false;
+}
+</script>

src/web/src/pages/main/contents/OperationTubeRacks.vue

@@ -42,7 +42,7 @@
             <a-row>
               <a-col :span="13" class="text-left">
                 <!-- 这里还有个预设按钮 ~~~ -->
-                <a-button class="ml-1" @click="actionAcidAdd"><ExperimentOutlined /></a-button>
+                <operation-tube-rack-acid-add v-if="null !== activeRackSlot" :active-slot="activeRackSlot"/>
                 <operation-tube-rack-heating v-if="null !== activeRackSlot" :active-slot="activeRackSlot"/>
                 <!-- <operation-sample-take-shot /> -->
               </a-col>
@@ -63,6 +63,7 @@
 import { ref } from 'vue';
 import anime from 'animejs/lib/anime.es.js';
 import OperationTubeRackHeating from './OperationTubeRackHeating.vue';
+import OperationTubeRackAcidAdd from './OperationTubeRackAcidAdd.vue';
 /** @var {Object} */
 const props = defineProps({
   tubeRackSlots: Array,